CN103028198A - Moving object tracking radiation therapy system - Google Patents
Moving object tracking radiation therapy system Download PDFInfo
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- CN103028198A CN103028198A CN2012103756952A CN201210375695A CN103028198A CN 103028198 A CN103028198 A CN 103028198A CN 2012103756952 A CN2012103756952 A CN 2012103756952A CN 201210375695 A CN201210375695 A CN 201210375695A CN 103028198 A CN103028198 A CN 103028198A
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 25
- 230000005855 radiation Effects 0.000 claims abstract description 48
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- 230000001678 irradiating effect Effects 0.000 claims description 13
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- 238000002601 radiography Methods 0.000 abstract 9
- 238000003384 imaging method Methods 0.000 abstract 1
- 239000003550 marker Substances 0.000 abstract 1
- 230000001225 therapeutic effect Effects 0.000 abstract 1
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
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Abstract
The present invention provides a moving object tracking radiotherapy system capable of appropriately setting a radiography range using a computed transit region of a target or an surrogate marker and achieving a reduction in the amount of X-ray exposure. The moving object tracking radiotherapy system includes a target position recognizing section (6) that computes a two-dimensional position of the target (3) according to an image taken by the X-ray imaging devices (5A, 5B), and computes a three-dimensional position of the target (3); a irradiation control section (7) that controls the therapeutic radiation irradiation device (4), based on the three-dimensional position of the target (3), thereby performing intercepted radiation or pursuing radiation to the target (3). The moving object tracking radiotherapy system includes a radiography range setting section (16) that computes a transit region (T) of the target (3) based on a history of the two-dimensional position of the target (3), displays a radiography range setting screen (24), the radiography range setting screen (24) indicating the transit region (T) of the target (3) or a minimum radiography range (Pmin) and a maximum radiography range (Pmax) and indicating a radiography range (P), and manually sets a radiography range using the radiography range setting screen (24).
Description
Technical field
The present invention relates to a kind of radiation treatment systems to the target irradiation treatment lonizing radiation in the subject, particularly a kind of position of identifying in real time target and radiation treatment systems is followed the trail of in the moving object of irradiation treatment lonizing radiation.
Background technology
Radiation treatment systems is followed the trail of in known a kind of moving object, namely for the radiotherapy line being focused on target and shining, minimizing is to the irradiation of the internal organs of target periphery, identifies in real time the position of target and irradiation treatment lonizing radiation (for example with reference to patent documentation 1).
As the unit of identification target location, use the unit of identifying the target location from a plurality of direction shooting radioscopy images according to these photographed images.The method of identification target location exists the method for Direct Recognition target and the method for indirectly identifying target according to the replacement labelling of target proximity.In last method, prepare the projected image of target in advance as template image, by projected image being mated to calculate the two-dimensional position of target.Then, the two-dimensional position of the target that obtains according to the projected image from all directions calculates the three-dimensional position of target.In a rear method, prepare the projected image of replacement labelling in advance as template image, by photographed images being mated calculate the two-dimensional position that replaces labelling.Then, the two-dimensional position of the replacement labelling that obtains according to the photographed images from all directions calculates the three-dimensional position that replaces labelling.At this moment, obtain in advance the relation between the three-dimensional position of the three-dimensional position that replaces labelling and target, indirectly identify the target location.
Identification by above-mentioned target location, tackle irradiation or carry out tracking radiation, this interception was radiated in opportunity of radiation exposure position consistency of target location and treatment plan shines, and the radiation exposure position is as one man changed in this tracking radiation and target location.Follow the trail of by this moving object, can move internal organs etc. to respiratory, internal organs mobile in treatment carry out correct irradiation.Therefore in addition, control the irradiation of radiotherapy line according to the motion of target, carry out the X ray shooting with the frequency of motion that can captured target (perhaps replacing labelling).
Patent documentation 1: TOHKEMY 2000-167072 communique
Summary of the invention
The problem that invention will solve
Yet, in above-mentioned conventional art, have following problem.That is, in above-mentioned conventional art, follow the trail of by moving object, can make the irradiation high precision int of radiotherapy line, on the other hand, by the exposure of X ray shooting generation X ray.Therefore in addition, the X ray light exposure is more few better, as long as can captured target or replace the motion of labelling, preferably dwindles image pickup scope.But, in the past, comprised roughly target of prediction or replace labelling institute range of movement (in other words, through the zone) of the error that produced by the change of state of every day, set image pickup scope than necessity largelyr.
The present invention In view of the foregoing finishes, its purpose is: provide a kind of can with the target that calculates or replace labelling accurately set drop shadow spread through the zone, can realize that radiation treatment systems is followed the trail of in the moving object of the minimizing of X ray light exposure.
For the scheme of dealing with problems
(1) in order to achieve the above object, the present invention is that radiation treatment systems is followed the trail of in a kind of moving object, possesses: the radiotherapy beam irradiating apparatus, and it is to the target irradiation treatment lonizing radiation in the subject; At least two X-ray image-pickup devices, its replacement labelling to above-mentioned target or above-mentioned target proximity carry out the X ray shooting; The target location recognition unit, it comes calculating from the above-mentioned target of direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by an above-mentioned X-ray image-pickup device shooting, come to calculate according to these three-dimensional positions to above-mentioned target or above-mentioned replacement labelling calculating from the above-mentioned target of other direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by another above-mentioned X-ray image-pickup device shooting; And radiotherapy line irradiation control unit, it controls above-mentioned radiotherapy beam irradiating apparatus according to the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or the three-dimensional position of above-mentioned replacement labelling, above-mentioned target is tackled irradiation or tracking radiation, wherein, above-mentioned X-ray image-pickup device has: X-ray tube, and it is to above-mentioned subject X-ray irradiation; X-ray detector, its detection have seen through the two-dimentional dose distribution of the X ray of above-mentioned subject; And X ray iris aperture, it limits the range of exposures of above-mentioned X-ray tube and can change image pickup scope, it is characterized in that, possess: through regional computing unit, its resume according to the two-dimensional position of the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or above-mentioned replacement labelling come calculating through the zone above-mentioned target or above-mentioned replacement labelling; The image pickup scope setup unit, it shows image pickup scope setting picture, this image pickup scope set picture represent the above-mentioned target that calculated by the regional computing unit of above-mentioned process or above-mentioned replacement labelling through zone or above-mentioned target or inner comprise above-mentioned replacement labelling through the zone and external minimum image pickup scope and the intrinsic maximum image pickup scope of above-mentioned X-ray image-pickup device, and expression on one side from above-mentioned minimum image pickup scope to above-mentioned maximal oxygen as scope till during restriction set the image pickup scope of input on one side, set image pickup scope with this image pickup scope setting picture; And the control of diaphragm unit, it comes the above-mentioned X ray iris aperture of above-mentioned X-ray image-pickup device is controlled according to the aperture of being set by above-mentioned image pickup scope setup unit.
(2) in above-mentioned (1), preferred above-mentioned image pickup scope setup unit is set on the picture at above-mentioned image pickup scope, the compensatory zone through the outer circumferential side additional representation regulation in zone of above-mentioned target or above-mentioned replacement labelling.
(3) in above-mentioned (2), preferred above-mentioned image pickup scope setup unit above-mentioned target or above-mentioned replacement labelling through the zone and inner comprising above-mentioned compensatory zone and external minimum image pickup scope to above-mentioned maximal oxygen as scope till during be limited in above-mentioned image pickup scope and set the image pickup scope that picture is set input.
(4) in order to achieve the above object, the present invention is that radiation treatment systems is followed the trail of in a kind of moving object, possesses: the radiotherapy beam irradiating apparatus, and it is to the target irradiation treatment lonizing radiation in the subject; At least two X-ray image-pickup devices, its replacement labelling to above-mentioned target or above-mentioned target proximity carry out the X ray shooting; The target location recognition unit, it comes calculating from the above-mentioned target of direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by an above-mentioned X-ray image-pickup device shooting, come to come the three-dimensional position of above-mentioned target or above-mentioned replacement labelling is calculated according to these to calculating from the above-mentioned target of other direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by another above-mentioned X-ray image-pickup device shooting; And radiotherapy line irradiation control unit, it controls above-mentioned radiotherapy beam irradiating apparatus according to the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or the three-dimensional position of above-mentioned replacement labelling, above-mentioned target is tackled irradiation or tracking radiation, wherein, above-mentioned X-ray image-pickup device has: X-ray tube, and it is to above-mentioned subject X-ray irradiation; X-ray detector, its detection have seen through the two-dimentional dose distribution of the X ray of above-mentioned subject; And X ray iris aperture, it limits the range of exposures of above-mentioned X-ray tube and can change image pickup scope, it is characterized in that, possess: through regional computing unit, its resume according to the two-dimensional position of the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or above-mentioned replacement labelling come calculating through the zone above-mentioned target or above-mentioned replacement labelling; The image pickup scope setup unit, it is to the compensatory zone through the additional regulation of outer circumferential side in zone of the above-mentioned target that calculated by the regional computing unit of above-mentioned process or above-mentioned replacement labelling, automatically set above-mentioned target or above-mentioned replacement labelling through the zone and innerly comprise above-mentioned compensatory zone and external image pickup scope; And the control of diaphragm unit, it comes the above-mentioned X ray iris aperture of above-mentioned X-ray image-pickup device is controlled according to the image pickup scope of being set by above-mentioned image pickup scope setup unit.
(5) in any in above-mentioned (1) ~ (4), the regional computing unit of preferred above-mentioned process according to the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or along the pre-stored above-mentioned target of the resume of the two-dimensional position of above-mentioned replacement labelling or when the projected image of above-mentioned replacement labelling is moved through the zone, to calculating through the zone of above-mentioned target or above-mentioned replacement labelling.
The effect of invention
According to the present invention, can or replace accurately setting image pickup scope and can realize the minimizing of X ray light exposure through the zone of labelling with the target that calculates.
Description of drawings
Fig. 1 is that the synoptic diagram of the structure of radiation treatment systems is followed the trail of in the moving object in expression the first embodiment of the present invention.
Fig. 2 is the block diagram that represents the functional structure of target location recognition device in the first embodiment of the present invention and image pickup scope setting device with associated apparatus.
Fig. 3 is the figure of the image pickup scope of the Sketch of X ray iris aperture of the X-ray image-pickup device of expression in the first embodiment of the present invention and expression X-ray image-pickup device.
Fig. 4 is the flow chart of the control contents processing of the image pickup scope setting device in expression the first embodiment of the present invention.
Fig. 5 is the figure that the image pickup scope in expression the first embodiment of the present invention is set picture.
Fig. 6 is the figure that the image pickup scope in the expression variation of the present invention is set picture.
Fig. 7 is the block diagram of structure that represents the function of target location recognition device in the second embodiment of the present invention and image pickup scope setting device with associated apparatus.
Fig. 8 is the flow chart of the control contents processing of the image pickup scope setting device in expression the second embodiment of the present invention.
Description of reference numerals
2: subject; 3: target; 4: the radiotherapy beam irradiating apparatus; 5A, 5B:X ray camera shooting device; 6: target location recognition device (target location recognition unit); 7: irradiation control device (irradiation control unit); 8A, 8B:X ray tube; 9A, 9B:X ray detector; 15A, 15B:X ray iris aperture; 16,16A: image pickup scope setting device (through regional computing unit, image pickup scope setup unit); 17: iris control apparatus (the control of diaphragm unit); 24,24A: image pickup scope is set picture.
The specific embodiment
According to Fig. 1 ~ Fig. 5 the first embodiment of the present invention is described.
Fig. 1 is that the synoptic diagram of the structure of radiation treatment systems is followed the trail of in the moving object in the expression present embodiment.Fig. 2 is the block diagram that represents the functional structure of target location recognition device in the present embodiment and image pickup scope setting device with associated apparatus.
Moving object is followed the trail of radiation treatment systems and is possessed: radiotherapy beam irradiating apparatus 4, and it is to the target 3 irradiation treatment lonizing radiation (for example infrared ray) in the subject 2 on the base 1; X-ray image-pickup device 5A, 5B, it carries out the X ray shooting from a plurality of directions to target 3; Target location recognition device 6, it identifies the position of target 3 in real time according to the image that is obtained by these X-ray image-pickup devices 5A, 5B shooting; And irradiation control device 7, radiotherapy beam irradiating apparatus 4 is controlled in its position according to the target 3 of being identified by this target location recognition device 6.
X-ray image-pickup device 5A possesses: X-ray tube 8A, its from first direction to subject 2 X-ray irradiations; X-ray detector 9A, it detects the two-dimentional dose distribution that sees through the X ray of subject 2 from this X-ray tube 8A irradiation; And not shown signal processing circuit.X-ray detector 9A has two-dimensionally a plurality of detecting elements (in detail, such as the semiconductor element that lonizing radiation is converted to electric charge etc.) of configuration, and output is from the analogue signal of these detecting elements.Signal processing circuit generates the data of radioscopy image to processing from the analogue signal of X-ray detector 9A, send to target location recognition device 6.In addition, carry out the shooting of X-ray image-pickup device 5A with the frequency (for example about 30Hz) of the motion of abundant captured target 3.
Similarly, X-ray image-pickup device 5B possesses: X-ray tube 8B, its from the second direction direction of first direction quadrature (in the present embodiment with) to subject 2 X-ray irradiations; X-ray detector 9B, it detects the two-dimentional dose distribution that sees through the X ray of subject 2 from this X-ray tube 8B irradiation; And not shown signal processing circuit.X-ray detector 9B has two-dimensionally a plurality of detecting elements of configuration, and output is from the analogue signal of these detecting elements.Signal processing circuit generates the data of radioscopy image to burying from the analogue signal place of X-ray detector 9B, send to target location recognition device 6.In addition, the Projective Synchronization ground of the shooting of X-ray image-pickup device 5B and X-ray image-pickup device 5A carries out.
Target location recognition device 6 has: Department of Communication Force 10, and it communicates between X-ray image-pickup device 5A, 5B, irradiation control device 7 etc.; Storage part (memorizer) 11, the photographed images that its preservation receives from X-ray image-pickup device 5A, 5B, result of calculation described later etc.; Display part (monitor) 12, it shows X-ray image-pickup device 5A, the photographed images of 5B, result of calculation described later etc.; Two-dimensional position computation section 13, it calculates according to the photographed images of the X-ray image-pickup device 5A two-dimensional position to the target 3 of observing from the projecting direction (first direction) of X-ray image-pickup device 5A, calculates according to the photographed images of the X-ray image-pickup device 5B two-dimensional position to the target 3 of observing from the shooting direction (second direction) of X-ray image-pickup device 5B; And three-dimensional position calculating part 14, its two-dimensional position according to these targets 3 calculates the three-dimensional position of target 3.
In the storage part 11 of target location recognition device 6, prepare the projected image of the target 3 on the shooting direction that stores X-ray image-pickup device 5A in advance as the first template image, as the second template image, prepare the projected image of the target 3 on the shooting direction that stores X-ray image-pickup device 5B in advance.Two-dimensional position computation section 13 mates by photographed images and the first template image that makes X-ray image-pickup device 5A, and the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A is calculated.In addition, mate by photographed images and the second template image that makes X-ray image-pickup device 5B, the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B is calculated.Specifically, while photographed images and template image are moved compare and calculate similar degree (for example standardized correlation coefficients), the position that its similar degree is the highest (matched position) is made as the two-dimensional position of target 3.The two-dimensional position of the target 3 that calculates and corresponding photographed images are saved to storage part 11 explicitly.
14 pairs of two-dimensional positions (projected position) from the target 3 of the shooting direction observation of X-ray image-pickup device 5A, 5B of the three-dimensional position calculating part of target location recognition device 6 carry out back projection, calculate the three-dimensional position (projected position) of target 3.The three-dimensional position of the target 3 that calculates is presented in the display part 12 together with the photographed images of corresponding X-ray image-pickup device 5A, 5B.Thus, the operator can confirm the position of target 3 in real time.In addition, intended target region of search in the photographed images in being presented at display part 12 can also be realized the time shorten of matching treatment thus.
In addition, the three-dimensional position of the target 3 that calculates is stored in the storage part 11, and sends to irradiation control device 7.Irradiation control device 7 bases are controlled radiotherapy beam irradiating apparatus 4 from the three-dimensional position of the target 3 that target location recognition device 6 receives, target 3 is tackled irradiation (in detail, radiation exposure position in the position of target 3 and treatment plan is shone consistent opportunity in the allowed band of regulation) or the tracking radiation position consistency ground change radiation exposure position of target 3 (in detail, with).
At this, large feature as present embodiment, X-ray image-pickup device 5A has the range of exposures that limits X-ray tube 8A and the X ray iris aperture 15A that can change image pickup scope, and X-ray image-pickup device 5B has the range of exposures that limits X-ray tube 8B and the X ray iris aperture 15B that can change image pickup scope.In addition, moving object is followed the trail of radiation treatment systems and is possessed: image pickup scope setting device 16, and it sets the image pickup scope of X-ray image-pickup device 5A, 5B with manual mode; And iris control apparatus 17, it drives control according to the image pickup scope of being set by this image pickup scope setting device 16 to X ray iris aperture 15A, 15B.
For example shown in Figure 3, X ray iris aperture 15A has: four aperture blades 18A ~ 18D, its form from the X ray of X-ray tube 8A the slit (opening) of square shape of process; And stepper motor (not shown), its with the x-ray bombardment direction roughly the direction of quadrature (in Fig. 2 hollow core direction of arrow) aperture blades 18A ~ 18D is moved.In addition, for example range of exposures (image pickup scope) becomes maximum in the configuration of the aperture blades 18A ~ 18D shown in Fig. 2, by to the movement of the inboard of aperture blades 18A ~ 18D and range of exposures (image pickup scope) is dwindled.In addition, the structure of the X ray iris aperture 15B also structure with X ray iris aperture 15A is identical, and therefore the description thereof will be omitted.
Image pickup scope setting device 16 has: Department of Communication Force 19, and it communicates between target location recognition device 6, iris control apparatus 17; Storage part 20(memorizer), it preserves the resume of the two-dimensional position of the target 3 that the shooting direction from X-ray image-pickup device 5A, 5B that received by target location recognition device 6 observes, result of calculation described later etc.; Target is through regional calculating part 21, it is according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A calculating through the zone the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, according to the resume of the two-dimensional position of the target 3 of observing from the projecting direction of X-ray image-pickup device 5B, to calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B; And the manual configuration part 23 of image pickup scope, it makes waiting and expression sets the X-ray image-pickup device 5A of image pickup scope of input or drop shadow spread that 5B uses and sets picture (describing in detail below) and be presented in the display part (monitor) 22 through the zone of expression target 3, uses these image pickup scopes to set pictures and with manual mode the image pickup scope of X-ray image-pickup device 5A, 5B is set.
Then, use Fig. 4 explanation as the control procedure of drop shadow spread's setting device 16 of the major part of present embodiment.Fig. 4 is the flow chart of the control contents processing of the image pickup scope setting device 16 in the expression present embodiment.
At first, in step 100, for example set the instruction of change according to the image pickup scope of inputting based on operator's operation, transmission is kept at the resume of the two-dimensional position of the target 3 that the shooting direction from X-ray image-pickup device 5A, 5B in the storage part 11 of target location recognition device 6 observes, and image pickup scope setting device 16 receives these resume and is saved in storage part 20.
Then, enter into step 110, the regional calculating part 21 of the process of image pickup scope setting device 16 is according to the resume of the two-dimensional position of the target 3 of observing from the projecting direction of X-ray image-pickup device 5A, to calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B, to calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B.Explain, in the storage part 20 of image pickup scope setting device 16, stored above-mentioned the first template image and the second template image.Calculate according to from X-ray image-pickup device 5A(or 5B through regional calculating part 21.After, corresponding identical in bracket) the resume of two-dimensional position of the shooting direction target 3 of observing when making the first template image (perhaps the second template image) mobile through the zone, as from X-ray image-pickup device 5A(or 5B) the shooting direction target 3 of observing through the zone.Then, the target 3 that calculates is saved in storage part 20 through the zone.
Then, enter into step 120, the manual configuration part 23 of the image pickup scope of image pickup scope setting device 16 is X-ray image-pickup device 5A(or the 5B shown in the construction drawing 4 for example) image pickup scope of usefulness sets picture 24, is presented in the display part 22.
Image pickup scope is set the regional T of process of target 3 corresponding to picture 24 expressions, and the inner regional T of process that comprises target 3 of expression and external minimum image pickup scope Pmin.Each blade of X ray iris aperture is moved make it begin to dwindle peristome from the maximum open position, calculated by the manual configuration part 23 of image pickup scope with the position that contacts through regional T as the limit of camera watch region.In addition, expression X-ray image-pickup device 5A(or 5B) intrinsic maximum image pickup scope Pmax, be X ray iris aperture 15A(or 15B) the image pickup scope of aperture when maximum.In addition, while set the image pickup scope P of input till expression is limited in from minimum image pickup scope Pmin to maximum image pickup scope Pmax.In addition, minimum image pickup scope Pmin, maximum image pickup scope Pmax and image pickup scope P are the shape (in the present embodiment square shape) corresponding with the X ray iris aperture.In addition, the regional T of the process of target 3 and minimum image pickup scope Pmin represent the restriction of image pickup scope P, therefore also can not express the process zone of target 3 and any among the minimum image pickup scope Pmin.
Then, enter into step 130, change image pickup scope by operator's operation input and set image pickup scope P on the picture 24.At length describe, for example the initial show state of image pickup scope P is minimum image pickup scope Pmin, when the arbitrary limit in four limits that select to consist of image pickup scope P, this is one side extremely moved till the maximum image pickup scope Pmax from minimum image pickup scope Pmin.In addition, according to and iris aperture 15A(or 15B) the moving interval of aperture blades between corresponding relation preset its moving interval.In addition, in the situation that a plurality of blades of iris aperture move in linkage, the operation on the one side by having selected image pickup scope is moved the limit of interlock.Limit in interlock arrives in the situation of Pmin or Pmax, and the movement on limit stops.Then, when the image pickup scope confirming button 25 on the operation image pickup scope setting picture 24, the image pickup scope P that the manual configuration part 23 of image pickup scope will show sets and stores storage part 20 into.
Then, enter into step 140, set and to store the image pickup scope P(of storage part 20 or the parameter corresponding with this image pickup scope P into) send to iris control apparatus 17.According to this situation, iris control apparatus 17 pairs of X ray iris apertures 15A(or 15B) drive control.
Action and the action effect of present embodiment then, are described.
For example be intended to before treatment beginning (namely, before the irradiation treatment lonizing radiation) carry out the stipulated time (for example the movement of target 3 with the situation of carrying out periodically under, the time that one-period is above) X ray shooting, when the operator operated the instruction of input X ray shooting, X-ray image-pickup device 5A, 5B carried out the X ray shooting of target 3.At this moment, the image pickup scope of X-ray image-pickup device 5A, 5B be controlled as the shooting setting device 16 storage part 20 in preset storage initial value (in detail, for the reliably motion of captured target 3, be set as required more than slightly large image pickup scope).
Then, for example after the X ray shooting finishes, when the operator operates the instruction of input image pickup scope setting change, image pickup scope setting device 16 receives preservation from the resume of the two-dimensional position of the target 3 of the shooting direction observation of X-ray image-pickup device 5A, 5B, according to these resume, to calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, 5B.Then, show the image pickup scope setting picture 24 that X-ray image-pickup device 5A or 5B use, use this image pickup scope to set picture 24 is set X-ray image-pickup device 5A or 5B with manual mode image pickup scope.The image pickup scope P that this image pickup scope setting picture 24 is inputted with setting represents the regional T(of process and the minimum image pickup scope Pmin of target 3) and maximum image pickup scope Pmax.Therefore, the operator can be easily and is accurately set the image pickup scope of X-ray image-pickup device 5A or 5B.Thereby, the minimizing of the X ray light exposure in the treatment after can realizing.
In addition, in the above-described first embodiment, send the resume of two-dimensional position of target 3 of storage part 11 interior preservations of target location recognition device 6 take the instruction of setting change according to image pickup scope and image pickup scope setting device 16 receives situation that these resume are saved in storage part 20 and is illustrated as example, but be not limited thereto.That is, the two-dimensional position of the target 3 that also can send in real time in the X ray shooting, be calculated by the two-dimentional calculating part 13 of target location recognition device 6, image pickup scope setting device 16 receives these two-dimensional positions and is saved in storage part 20.
In addition, in the above-described first embodiment, be illustrated as an example of following situation example: before treatment beginning (namely, before the irradiation treatment lonizing radiation begin) carry out the X ray shooting, the process zone that the two-dimensional position of the target 3 that obtains during according to its X ray shooting calculates target 3, the image pickup scope in the process zone of this target 3 of demonstration expression etc. is set picture 24, uses this image pickup scope setting picture 24 to set image pickup scope with manual mode, still is not limited thereto.That is, for example in therapeutic process or interim therapy discontinued, the two-dimensional position of the target 3 that obtains by the X ray shooting according in therapeutic process (that is, in the irradiation treatment lonizing radiation process) calculate target 3 through the zone.The image pickup scope through zone etc. that also can show this target 3 of expression is set picture.At this moment, by set the set condition before showing in the image pickup scope on the picture 24 at image pickup scope, can confirm in the therapeutic process target 3 through the relation between zone and the image pickup scope.Then, according to circumstances, can also set the change image pickup scope.
In addition, in the above-described first embodiment, do not describe especially, but can routine variation as shown in Figure 6 such yet, represent that through the outer circumferential side ancillary relief zone C in zone 25 image pickup scope sets picture 24A in target.This compensatory zone C is used for the variable quantity of the regional T of process of the target 3 that prediction occurs along with the change of state of subject 2 etc., for example be according to the direction-changeable of image pickup scope P (left is to, right, upper direction and lower direction in the drawings) accordingly predefined compensation magnitude dl ~ d4 make.In this variation, the initial show state of image pickup scope P also can similarly be made as inside with above-mentioned the first embodiment and comprise the regional T of process of target 3 and external image pickup scope, also can be made as in addition inside and comprise the regional T of process of target 3 and compensatory zone C and external image pickup scope (with reference to Fig. 6).In addition, minimum image pickup scope Pmin also can similarly be made as inside with above-mentioned the first embodiment and comprise the regional T of process of target 3 and external image pickup scope, can be made as also in addition that inside comprises the regional T of process of target 3 and compensatory zone C and external image pickup scope also can be restricted to this minimum image pickup scope Pmin with the image pickup scope P that sets input.In this variation, compare with above-mentioned the first embodiment (that is, not representing the situation of compensatory zone C), do not rely on operator's ability, experience, can accurately set image pickup scope.Especially minimum image pickup scope Pmin being made as inside comprises the regional T of process of target 3 and compensatory zone C in the situation of external image pickup scope, reduce the probability that the probability that target 3 breaks away from from image pickup scope and the irradiation that reduces the radiotherapy line are interrupted.
In addition, in the above-described first embodiment, be illustrated as an example of the situation of the image pickup scope of setting respectively X-ray image-pickup device 5A, 5B example, but be not limited thereto, the image pickup scope of X-ray image-pickup device 5A, 5B is cooperated set simultaneously.At length describe, with the direction of shooting direction (second direction) quadrature of the shooting direction (first direction) of X-ray image-pickup device 5A and X-ray image-pickup device 5B in the image pickup scope of the image pickup scope of X-ray image-pickup device 5A and X-ray image-pickup device 5B, be common direction.Therefore, image pickup scope setting picture also can show so that the length of the image pickup scope of the length of the image pickup scope of the X-ray image-pickup device 5A on this common direction and X-ray image-pickup device 5B is synchronous.Thus, can be easier and image pickup scope accurately.
In addition, in the above-described first embodiment, the structure that has following part take X ray iris aperture 15A, 15B is illustrated as example: four aperture blades 18A ~ 18D, and it forms the slit of square shape; And stepper motor, its with the x-ray bombardment direction roughly the direction of quadrature aperture blades 18A ~ 18D is moved, but be not limited to this.That is, the quantity of aperture blades is not limited to four, also can be below three or more than five.In addition, the slit that is formed by aperture blades is not limited to square shape, also can be other polygon, toroidal.In addition, for example also can be made as the structure that aperture blades is moved in the x-ray bombardment direction.Then, image pickup scope setting device 16 shows that the shape of the image pickup scope corresponding with the X ray iris aperture, the image pickup scope setting picture by variable method setting image pickup scope get final product.In this case, also can access above-mentioned same effect.
According to Fig. 7 and Fig. 8 the second embodiment of the present invention is described.Present embodiment is the embodiment of the image pickup scope of automatic setting X-ray image-pickup device 5A, 5B.In addition, in the present embodiment, to the Reference numeral additional identical with the equal part of above-mentioned the first embodiment, suitably description thereof is omitted.
Fig. 7 is the block diagram of structure that represents the function of target location recognition device in the present embodiment and image pickup scope setting device with associated apparatus.
In the present embodiment, image pickup scope setting device 16A has: Department of Communication Force 19, and it communicates between target location recognition device 6, iris control apparatus 17 etc.; Storage part 20(memorizer), the resume of the two-dimensional position of its storage target 3 of observing from the shooting direction of the X-ray image-pickup device 5A, the 5B that are received by target location recognition device 6, result of calculation described later etc.; Target is through regional calculating part 21, its according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A to the calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B calculating through the zone the target 3 of observing from the shooting direction of X-ray image-pickup device 5B; Image pickup scope automatic setting section 26, it automatically sets image pickup scope according to target 3 through the zone.
Then, use Fig. 8 explanation as the control procedure of the image pickup scope setting device 16A of the major part of present embodiment.Fig. 8 is the flow chart of the control contents processing of the image pickup scope setting device 16A in the expression present embodiment.
At first, in step 200, for example operate according to the operator and input the instruction that the image pickup scope that obtains is set change, transmission is from the resume of the two-dimensional position of the target 3 of the shooting direction observation of X-ray image-pickup device 5A, the 5B of the storage part 11 interior preservations of target location recognition device 6, and image pickup scope setting device 16A receives these resume and is saved in storage part 20.
Afterwards, enter into step 210, the regional calculating part of the process of image pickup scope setting device 16A 21 is according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A calculating through the zone the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, to the calculating through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B, these are saved in storage part 20 through the zone according to the resume of the two-dimensional position of the target 3 of observing from the shooting direction of X-ray image-pickup device 5B.
Afterwards, enter into step 220, the image pickup scope automatic setting section 26 of image pickup scope setting device 16A is at the additional compensatory zone of stipulating of the outer circumferential side through the zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, automatically set inner comprise these targets 3 through zone and compensatory zone and the image pickup scope (the image pickup scope P among the above-mentioned Fig. 6 of reference) of external X-ray image-pickup device 5A stores storage part 20 into.In addition, the additional compensatory zone of stipulating of the outer circumferential side through the zone in the target 3 of observing from the shooting direction of X-ray image-pickup device 5B, automatically set inner comprise these targets 3 through zone and compensatory zone and the image pickup scope (the image pickup scope P among the above-mentioned Fig. 6 of reference) of external X-ray image-pickup device 5B stores storage part 20 into.
Afterwards, enter into step 230, will be in the image pickup scope P(of the interior settings storage of storage part 20 or the parameter corresponding with this image pickup scope P) send to iris control apparatus 17.Thus, iris control apparatus 17 pairs of X ray iris apertures 15A(or 15B) drive control.
Action and the action effect of present embodiment then, are described.
For example wish before treatment beginning (namely, before the irradiation treatment lonizing radiation) carry out the stipulated time (for example the movement of target 3 with the situation of carrying out periodically under, the time that one-period is above) X ray shooting, when the operator operated the instruction of input X ray shooting, X-ray image-pickup device 5A, 5B carried out the X ray shooting of target 3.At this moment, the image pickup scope of X-ray image-pickup device 5A, 5B is controlled as the initial value that presets in the storage part 20 that is stored in shooting setting device 16A (in detail, for the reliably motion of captured target 3, be set as required more than slightly large image pickup scope).
Then, for example after the X ray shooting finishes, when the operator operates the instruction of input image pickup scope setting change, image pickup scope setting device 16A receives preservation from the resume of the two-dimensional position of the target 3 of the shooting direction observation of X-ray image-pickup device 5A, 5B, according to these resume, calculating is regional from the process of the target 3 that the shooting direction of X-ray image-pickup device 5A, 5B is observed.Then, at the compensatory zone through the additional regulation of outer circumferential side in zone of the target 3 of observing from the shooting direction of X-ray image-pickup device 5A, 5B, automatically set inner comprise these targets 3 through zone and compensatory zone and external X-ray image-pickup device 5A, the 5B image pickup scope.Therefore, can be easily and accurately set the image pickup scope of X-ray image-pickup device 5A, 5B.Thereby, the minimizing of the X ray light exposure in the therapeutic process after can realizing.
In addition, in the above-described 2nd embodiment, be sent in the resume of two-dimensional position of target 3 of storage part 11 interior preservations of target location recognition device 6 take the instruction of setting change according to image pickup scope and image pickup scope setting device 16A receives situation that these resume are saved in storage part 20 and is illustrated as example, but be not limited to this.That is, the two-dimensional position of the target 3 that calculates in X ray shooting, by the two-dimentional calculating part 13 of target location recognition device 6 is sent in real time, and image pickup scope setting device 16A also can receive this two-dimensional position and be saved in storage part 20.
In addition, in the above-described 2nd embodiment, with before treatment beginning (namely, before the beginning irradiation treatment lonizing radiation) carry out the X ray shooting and the two-dimensional position of the target 3 that obtains during according to this X ray shooting calculate target 3 through the zone and with this target 3 to come the situation of automatic setting image pickup scope through the zone be that example is illustrated, still be not limited to this.Namely, for example also can be in therapeutic process or interim therapy discontinued, the two-dimensional position of the target 3 that shooting obtains according to the X ray of (that is, in the irradiation treatment lonizing radiation) in this therapeutic process calculate target 3 through the zone, come the automatic setting image pickup scope according to this target 3 through the zone.
In addition, in the above-described 2nd embodiment, do not have the situation of display part (monitor) take image pickup scope setting device 16A as example is illustrated, still be not limited to this, can have display part yet.Then, for example also can show image pickup scope affirmation picture, this image pickup scope confirms that picture represents the process zone (and compensatory zone) of target 3, and the image pickup scope of expression automatic setting.
In addition, in above-mentioned the first and second embodiments, the situation of the structure that separately consists of take target location recognition device 6, irradiation control device 7, image pickup scope setting device 16 or 16A and iris control apparatus 17 is illustrated as example, but be not limited to this, obviously also in them any can be made as and be structure as a whole.In addition, in above-mentioned the first and second embodiments, be illustrated as an example of the situation that possesses two X-ray image-pickup device 5A, 5B example, but be not limited to this, obviously also can possess the X-ray image-pickup device more than three.
In addition, as mentioned above, take as application of the present invention and the targets 3 in X-ray image-pickup device 5A, the 5B shooting subject 2 and the moving object of target location recognition device 6 Direct Recognition targets 3 are followed the trail of radiation treatment systems and is illustrated as example, but be not limited thereto.That is, also can X-ray image-pickup device 5A, 5B near the shooting target 3 replacement labelling, target location recognition device 6 is followed the trail of radiation treatment systems according to the moving object that replaces labelling indirectly to identify target 3.Below, be described in detail.
Follow the trail of in the radiation treatment systems in this moving object, in the storage part 11 of target location recognition device 6, as the first template image, prepare the projected image of the replacement labelling on the shooting direction that stores X-ray image-pickup device 5A in advance, as the second template image, prepare the projected image of the replacement labelling on the shooting direction that stores X-ray image-pickup device 5B in advance.Photographed images and the first template image coupling of two-dimensional position computation section 13 by making X-ray image-pickup device 5A, the two-dimensional position of the replacement labelling that the shooting direction that turns image device 5A from X ray is observed calculates.In addition, the photographed images by making X-ray image-pickup device 58 and the second template image coupling are calculated the two-dimensional position of the replacement labelling observed from the shooting direction of X-ray image-pickup device 5B.The two-dimensional position of the replacement labelling that calculates is saved in storage part 11.14 pairs of two-dimensional positions (projected position) from the replacement labelling of the shooting direction observation of X-ray image-pickup device 5A, 5B of the three-dimensional position calculating part of target location recognition device 6 carry out back projection, calculate the three-dimensional position (projected position) that replaces labelling.The three-dimensional position of the replacement labelling that calculates is presented in the display part 12 together with the photographed images of corresponding X-ray image-pickup device 5A, 5B.In addition, store the three-dimensional position of the replacement labelling that calculates into storage part 11, and send to irradiation control device 7.At this moment, obtain in advance the relation between the three-dimensional position of the three-dimensional position that replaces labelling and target 3, irradiation control device 7 bases are controlled radiotherapy beam irradiating apparatus 4 from the three-dimensional position of the replacement labelling that target location recognition device 6 receives, and target is tackled irradiation or tracking radiation.
Follow the trail of radiation treatment systems in the situation that apply the present invention to this moving object, the image pickup scope setting device calculates the process zone that replaces labelling according to the resume of the two-dimensional position that replaces labelling.Then, for example with above-mentioned the first embodiment (and variation) similarly, the demonstration expression replaces the process zone of labelling, minimum image pickup scope and maximum image pickup scope etc. and indicates to set the image pickup scope setting picture of the image pickup scope of input, uses this image pickup scope to set picture and sets image pickup scope with manual mode.Perhaps, for example with above-mentioned the second embodiment similarly, according to the regional automatic setting image pickup scope of process that replaces labelling.In this case, also can access effect same as described above.
Claims (5)
1. radiation treatment systems is followed the trail of in a moving object, possesses:
The radiotherapy beam irradiating apparatus, it is to the target irradiation treatment lonizing radiation in the subject;
At least two X-ray image-pickup devices, its replacement labelling to above-mentioned target or above-mentioned target proximity carry out the X ray shooting;
The target location recognition unit, it comes calculating from the above-mentioned target of direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by an above-mentioned X-ray image-pickup device shooting, come to calculate according to the three-dimensional position of these two-dimensional positions to above-mentioned target or above-mentioned replacement labelling calculating from the above-mentioned target of other direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by another above-mentioned X-ray image-pickup device shooting; And
Radiotherapy line irradiation control unit, it controls above-mentioned radiotherapy beam irradiating apparatus according to the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or the three-dimensional position of above-mentioned replacement labelling, and above-mentioned target is tackled irradiation or tracking radiation,
Wherein, above-mentioned X-ray image-pickup device has: X-ray tube, and it is to above-mentioned subject X-ray irradiation; X-ray detector, its detection have seen through the two-dimentional dose distribution of the X ray of above-mentioned subject; And the X ray iris aperture, it limits the range of exposures of above-mentioned X-ray tube and can change image pickup scope, and this moving object is followed the trail of radiation treatment systems and is characterised in that to possess:
Through regional computing unit, it comes calculating through the zone above-mentioned target or above-mentioned replacement labelling according to the resume of the two-dimensional position of the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or above-mentioned replacement labelling;
The image pickup scope setup unit, it shows image pickup scope setting picture, and set picture with this image pickup scope and set image pickup scope, wherein, this image pickup scope set picture represent the above-mentioned target that calculated by the regional computing unit of above-mentioned process or above-mentioned replacement labelling through the zone, perhaps inner comprise above-mentioned target or above-mentioned replacement labelling through the zone and external minimum image pickup scope and the intrinsic maximum image pickup scope of above-mentioned X-ray image-pickup device, on one side and expression be limited in from above-mentioned minimum image pickup scope to above-mentioned maximal oxygen as setting the image pickup scope of inputting between the scope; And
The control of diaphragm unit, it is controlled the above-mentioned X ray iris aperture of above-mentioned X-ray image-pickup device accordingly with the image pickup scope of being set by above-mentioned image pickup scope setup unit.
2. radiation treatment systems is followed the trail of in moving object according to claim 1, it is characterized in that,
Above-mentioned image pickup scope setup unit is set on the picture at above-mentioned image pickup scope, the compensatory zone through the additional regulation of outer circumferential side in zone of above-mentioned target or above-mentioned replacement labelling represents.
3. radiation treatment systems is followed the trail of in moving object according to claim 2, it is characterized in that,
Above-mentioned image pickup scope setup unit will above-mentioned image pickup scope set picture set the image pickup scope of input be limited in above-mentioned target or above-mentioned replacement labelling through the zone and inner comprising above-mentioned compensatory zone and external minimum image pickup scope to above-mentioned maximal oxygen as scope between.
4. radiation treatment systems is followed the trail of in a moving object, possesses:
The radiotherapy beam irradiating apparatus, it is to the target irradiation treatment lonizing radiation in the subject;
At least two X-ray image-pickup devices, its replacement labelling to above-mentioned target or above-mentioned target proximity carry out the X ray shooting;
The target location recognition unit, it comes calculating from the above-mentioned target of direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by an above-mentioned X-ray image-pickup device shooting, come to come the three-dimensional position of above-mentioned target or above-mentioned replacement labelling is calculated according to these two-dimensional positions to calculating from the above-mentioned target of other direction observation or the two-dimensional position of above-mentioned replacement labelling according to the image that is obtained by another above-mentioned X-ray image-pickup device shooting; And
Radiotherapy line irradiation control unit, it controls above-mentioned radiotherapy beam irradiating apparatus according to the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or the three-dimensional position of above-mentioned replacement labelling, and above-mentioned target is tackled irradiation or tracking radiation,
Wherein, above-mentioned X-ray image-pickup device has: X-ray tube, and it is to above-mentioned subject X-ray irradiation; X-ray detector, its detection have seen through the two-dimentional dose distribution of the X ray of above-mentioned subject; And the X ray iris aperture, it limits the range of exposures of above-mentioned X-ray tube and can change image pickup scope, and this moving object is followed the trail of radiation treatment systems and is characterised in that to possess:
Through regional computing unit, its resume according to the two-dimensional position of the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or above-mentioned replacement labelling come calculating through the zone above-mentioned target or above-mentioned replacement labelling;
The image pickup scope setup unit, it is to the compensatory zone through the additional regulation of outer circumferential side in zone of the above-mentioned target that calculated by the regional computing unit of above-mentioned process or above-mentioned replacement labelling, automatically set above-mentioned target or above-mentioned replacement labelling through the zone and innerly comprise above-mentioned compensatory zone and external image pickup scope; And
The control of diaphragm unit, it is controlled the above-mentioned X ray iris aperture of above-mentioned X-ray image-pickup device accordingly with the image pickup scope of being set by above-mentioned image pickup scope setup unit.
5. radiation treatment systems is followed the trail of in the described moving object of each according to claim 1 ~ 4, it is characterized in that,
When the regional computing unit of above-mentioned process moves the projected image of pre-stored above-mentioned target or above-mentioned replacement labelling according to the resume according to the two-dimensional position of the above-mentioned target that is gone out by above-mentioned target location recognition unit computes or above-mentioned replacement labelling through the zone, to calculating through the zone of above-mentioned target or above-mentioned replacement labelling.
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| JP2011-220122 | 2011-10-04 |
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| CN105709340B (en) * | 2014-12-18 | 2018-11-16 | 株式会社东芝 | Move volume tracing therapeutic device and method |
| CN108078576A (en) * | 2016-11-21 | 2018-05-29 | 株式会社东芝 | Device, method, computer-readable program and the mobile object tracks of device and radiotherapy system of Medical Image Processing |
| CN108078576B (en) * | 2016-11-21 | 2021-03-09 | 株式会社东芝 | Medical image processing apparatus, method, computer readable program, and moving object tracking apparatus and radiation therapy system |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2578271B1 (en) | 2017-08-23 |
| CN103028198B (en) | 2015-07-22 |
| EP2578271A1 (en) | 2013-04-10 |
| JP2013078479A (en) | 2013-05-02 |
| US20130083895A1 (en) | 2013-04-04 |
| JP5848573B2 (en) | 2016-01-27 |
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